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AP_AHRS: added uptime_ms() interface

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This commit is contained in:
Andrew Tridgell 2015-05-20 15:21:33 +10:00
parent 23787cf695
commit 7a76f72bf5
3 changed files with 17 additions and 0 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -354,6 +354,9 @@ public:
// true if the AHRS has completed initialisation // true if the AHRS has completed initialisation
virtual bool initialised(void) const { return true; }; virtual bool initialised(void) const { return true; };
// time that the AHRS has been up
virtual uint32_t uptime_ms(void) const = 0;
protected: protected:
AHRS_VehicleClass _vehicle_class; AHRS_VehicleClass _vehicle_class;

11
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -967,3 +967,14 @@ bool AP_AHRS_DCM::healthy(void) const
// consider ourselves healthy if there have been no failures for 5 seconds // consider ourselves healthy if there have been no failures for 5 seconds
return (_last_failure_ms == 0 || hal.scheduler->millis() - _last_failure_ms > 5000); return (_last_failure_ms == 0 || hal.scheduler->millis() - _last_failure_ms > 5000);
} }
/*
return amount of time that AHRS has been up
*/
uint32_t AP_AHRS_DCM::uptime_ms(void) const
{
if (_last_startup_ms == 0) {
return 0;
}
return hal.scheduler->millis() - _last_startup_ms;
}

3
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -110,6 +110,9 @@ public:
// is the AHRS subsystem healthy? // is the AHRS subsystem healthy?
bool healthy(void) const; bool healthy(void) const;
// time that the AHRS has been up
uint32_t uptime_ms(void) const;
private: private:
float _ki; float _ki;
float _ki_yaw; float _ki_yaw;